Positioning method and apparatus

Abstract

A positioning method includes: acquiring first geographic orientation information of a second device and first relative orientation information of the first device relative to the second device; acquiring second geographic orientation information of the first device; and determining second relative orientation information of the second device relative to the first device according to the first geographic orientation information, the second geographic orientation information, and the first relative orientation information.

What is claimed is: 
     
       1. A positioning method applied to a first device, the method comprising:
 acquiring, from a second device, first geographic orientation information of the second device and first relative orientation information of the first device relative to the second device, wherein the second device comprises a multi-antenna device, the first device comprises a single-antenna device, and the first relative orientation information is determined through a plurality of antennas of the second device; 
 acquiring second geographic orientation information of the first device; and 
 determining second relative orientation information of the second device relative to the first device according to the first geographic orientation information, the second geographic orientation information, and the first relative orientation information. 
 
     
     
       2. The positioning method of  claim 1 , wherein the first geographical orientation information comprises a first azimuth of the second device in a geographical coordinate system; the second geographical orientation information comprises a second azimuth of the first device in the geographical coordinate system; and the first relative orientation information comprises a first relative azimuth of the first device relative to the second device. 
     
     
       3. The positioning method of  claim 2 , wherein determining the second relative orientation information of the second device relative to the first device according to the first geographic orientation information, the second geographic orientation information, and the first relative orientation information comprises:
 obtaining a second relative azimuth of the second device relative to the first device according to the first azimuth, the second azimuth, and the first relative azimuth. 
 
     
     
       4. The positioning method of  claim 1 , further comprising:
 determining a relative distance between the first device and the second device; and 
 determining position information of the second device relative to the first device based on the relative distance and the second relative orientation information. 
 
     
     
       5. The positioning method of  claim 1 , wherein acquiring, from the second device, the first geographical orientation information of the second device and the first relative orientation information of the first device relative to the second device comprises:
 transmitting a first request message to the second device; and 
 receiving the first geographic orientation information and the first relative orientation information. 
 
     
     
       6. The positioning method of  claim 5 , wherein the first geographic orientation information and the first relative orientation information are returned by the second device based on the first request message. 
     
     
       7. A positioning device comprising:
 one or more processors; and 
 a memory for storing executable instructions; 
 wherein the one or more processor are configured to execute the executable instructions to implement the positioning method of  claim 1 . 
 
     
     
       8. A positioning method applied to a second device, the method comprising:
 receiving a request message transmitted by a first device; 
 acquiring second geographic orientation information of the first device from the request message; 
 determining first geographic orientation information of the second device, and first relative orientation information of the first device relative to the second device, wherein the second device comprises a multi-antenna device, the first device comprises a single-antenna device, and the first relative orientation information is determined through a plurality of antennas of the second device; 
 determining second relative orientation information of the second device relative to the first device according to the first geographic orientation information, the second geographic orientation information, and the first relative orientation information; and 
 transmitting the second relative orientation information to the first device. 
 
     
     
       9. A positioning device comprising:
 one or more processors; and 
 a memory for storing executable instructions; 
 wherein the one or more processors are configured to execute the executable instructions to implement the positioning method of  claim 8 . 
 
     
     
       10. A positioning method applied to a second device, the method comprising:
 receiving a first request message transmitted by a first device, the first request message being a message for requesting positioning of the second device; 
 determining first geographic orientation information of the second device and first relative orientation information of the first device relative to the second device, wherein the second device comprises a multi-antenna device, the first device comprises a single-antenna device, and the relative orientation information is determined through a plurality of antennas of the second device; and 
 transmitting the first geographical orientation information and the first relative orientation information to the first device. 
 
     
     
       11. A positioning device comprising:
 one or more processors; and 
 a memory for storing executable instructions; 
 wherein the one or more processors are configured to execute the executable instructions to implement the positioning method of  claim 10 .